While Caleb may have overstated the acquisition time, he may not be as far off as many are claiming. Through weeks 3 last year, the average alliance score was roughly 80 pts. During the match, there were 7 20 second periods last year. We will assume (falsely) that on average no points in auto mode. Scenario 1, 1 team does 8 cycles scoring 10 pts/cycle, and thus it would be 17.5 seconds per cycle. I really only saw this attempted by 1 robot last year during week 1. It was an amazing flurry of activity, but frankly a pretty mediocre score. In this scenario, there was very little time in the act of scoring (couple seconds), and the transition (drive time) was roughly 45 feet which took another 5-6 seconds. Thus the waiting on the HP to run around and load them was around 8 seconds which could arguably be considered acquiring.
Another scenario would be the Pass and high score. This is worth 20 points. This would only be 4 cycles which would be 35 seconds per cycle. Assuming scoring was not much different (a few seconds), then this effort would have about 30 seconds for acquire, transit, pass (another form of acquire) and final transit. If I give 5x2 seconds for transit, that leaves 20 seconds for an acquire and a pass which is arguably an acquire also. This would be 10 seconds on average for both of those actions.
If you run any higher score per cycle scenario, you get a lower cycle count and a higher "acquire" time per cycle relative to these "average" matches. this is also true of any scoring relative to auton. Using The Blue alliance, these average matches and lowering scoring accounted for 44% of matches, and the next bin higher accounts for 57% of matches.
So, while 20 seconds might be high, it isn't a 10x multiplier like many on CD here are claiming. I would argue to many that if you really take a hard look at how long it took your team to run down a loose ball and acquire it, you might be surprised.
Acquisition is often like other scoring. People tend to remember the fastest or best performance and ignore the time they spent 30 seconds trying to dig a ball out from under a bridge, or jostling the robot for 20 seconds trying to get a jammed frisbee free.
I poke mostly at Schreiber on this one as he is the youngest grumpy old man I know

. He has worked with enough teams of various skill level to remember that a lot of the middle and lower end of FRC has difficulty acquiring and scoring a game piece more than 2 times per match...
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The landfill will be a polar experience this year. For many teams, the blocked together distribution of totes might as well be fort knox as it will be difficult for them to get in and acquire without damaging arms and forklifts. I expect teams will learn skills similar to pool players of either "breaking" the pack to more easily pick them off 1 by 1, or learning which ones to go after first. There will likely be a few of the best teams though that will be amazing at acquiring in the landfill. With the slowness of the HP chute door (yes, chute door), some elite teams will develop landfill mining practices that will be jaw dropping. I suspect at least a couple (and likely not more) that will be able to outpace the chute door significantly. I can't wait to see them play the game.